\section{Introduction}
This journal is the final product of the project work conducted in the Robotic 3 course at University of Southern Denmark. The main topic of the course has been analysis of mechanical systems and rigid body dynamics. The project serves as a pre-project for upcoming master thesis', where knowledge regarding grasp simulation will be vital, as the thesis' will regard dynamic grasp simulation and grasping of unknown objects respectively.

\subsection{Motivation}
The field of grasping has an increased interest due to the fact that grasping is an essential part of the world we live in. Everywhere grasping is vital for interaction with the surroundings and it is important for being able to perform different tasks in the world. Although the task of grasping seems straightforward in a humans point of view it is a complex process combining visual cues with tactile sensing and previous experience. 

\noindent The reason why grasp simulation is interesting in this context is that by simulating grasps using physics simulation it is possible to evaluate a much higher number of grasps compared to real world experiments in a given time. Therefore it is possible to gain knowledge in the field at a faster pace, if the simulation is accurate enough.
The lesser time consumption could be exploited in a combination with a real life scenario were a potential grasp could be simulated beforehand giving a hint of the quality of the grasp by a quality measure and hence discard bad grasps before they have to be carried out in real life. This however demands a quality measure in connection with a grasp simulator that predicts the grasp quality with reasonable accuracy.

\subsection{Objective of Project}
The main objective of the project is to acquire knowledge in the field of grasp simulation. This objective is then divided into two different aspects namely getting to know and work with the grasp simulation environment in the robotic framework RobWork\footnote{RobWork is a Robotic framework developed at SDU, \url{http://www.robwork.dk}} and then through grasp simulation  investigate different types of quality measures for grasping actions.

\paragraph*{RobWorkSim}
The part concerning the simulation environment is primarily focussing on the following tasks.
\begin{itemize}
\item Be able to perform multiple grasping actions.
\item Extract contact points and forces from simulator.
\item Be able to verify the quality of a grasp by moving the gripper or applying force in the simulator.
\end{itemize} 

\paragraph*{Quality Measures}
Quality measures of a grasp is a theoretical measure which depicts the probability of a successful grasp by a value, based on the contact points on an object. A good quality measure for a grasp should depict the probability of successful grasp, such that a higher number resembles a better grasp.
In this context two different quality measures are evaluated through simulation, respectively Centre of Mass to Centre of Contact Points (CMCCP), and Force Torque wrench space. 